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Warranties (Tables)
9 Months Ended
Sep. 30, 2023
Guarantees [Abstract]  
Change in Carrying Value of Company's Warranty Liability A reconciliation of the change in the carrying value of the Company’s warranty liability for the nine months ended September 30, 2023 and the year ended December 31, 2022 is as follows (in thousands):
Warranty liabilityNine months ended September 30, 2023Year ended December 31, 2022
Beginning balance$1,754 $2,062 
Provision for warranties issued during the period2,507 3,301 
Fulfillment of warranty obligations(2,624)(3,609)
Ending balance$1,637 $1,754